The mechanics and control of robotic locomotion with applications to aquatic vehicles
This work illuminates the utility of a theory of locomotion rooted in geometric mechanics and nonlinear control. We regard the internal configuration of a deformable body, together with its position and orientation in ambient space, as a point in a trivial principal fiber bundle over the manifold of...
Internet
https://thesis.library.caltech.edu/3105/1/Kelly_sd_1998.pdfKelly, Scott D. (1998) The mechanics and control of robotic locomotion with applications to aquatic vehicles. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/50M3-1529. https://resolver.caltech.edu/CaltechETD:etd-08122005-152639 <https://resolver.caltech.edu/CaltechETD:etd-08122005-152639>